class ModbusClientRS:
def __init__(self):
self.client = ModbusClient()
def writeRegister(self, address, value):
if self.client.is_open():
return self.client.write_single_register(address, value)
return None
def readRegister(self, address, value):
if self.client.is_open():
self.client.read_holding_registers(address, value)
def connect(self, host, port):
# self.client.debug(True)
self.client.host(SERVER_HOST)
self.client.port(SERVER_PORT)
if not self.client.is_open():
if not self.client.open():
print("unable to connect to " + SERVER_HOST + ":" + str(SERVER_PORT))
def is_open(self):
return self.client.is_open()
def disconnect(self):
return self.client.close()
class Modbus:
def __init__(self, host, port, unit):
self.client = ModbusClient(host, port, unit, timeout=3)
def __enter__(self):
self.client.open()
return self
def __exit__(self, exc_type, exc_val, exc_tb):
self.client.close()
def toFloat(self, ushorts):
bs = struct.pack('H', ushorts[0]) + struct.pack('H', ushorts[1])
return struct.unpack('f', bs)
def openConnect(self):
try:
if not self.isOpen:
self.client.open()
except:
self.closeConnect()
def closeConnect(self):
self.client.close()
@property
def isOpen(self):
return self.client.is_open()
def getValue(self, addr):
return self.toFloat(self.client.read_holding_registers(addr, 2))[0]
def getValues(self, tags):
return [(tag, self.getValue(tag)) for tag in tags]
class TestClientServer(unittest.TestCase):
def setUp(self):
# modbus server
self.server = ModbusServer(port=5020, no_block=True)
self.server.start()
# modbus client
self.client = ModbusClient(port=5020)
self.client.open()
def tearDown(self):
self.client.close()
def test_read_and_write(self):
# word space
self.assertEqual(self.client.read_holding_registers(0), [0],
'Default value is 0 when server start')
self.assertEqual(self.client.read_input_registers(0), [0],
'Default value is 0 when server start')
# single read/write
self.assertEqual(self.client.write_single_register(0, 0xffff), True)
self.assertEqual(self.client.read_input_registers(0), [0xffff])
# multi-write at max size
words_l = [randint(0, 0xffff)] * 0x7b
self.assertEqual(self.client.write_multiple_registers(0, words_l),
True)
self.assertEqual(self.client.read_holding_registers(0, len(words_l)),
words_l)
self.assertEqual(self.client.read_input_registers(0, len(words_l)),
words_l)
# write over sized
words_l = [randint(0, 0xffff)] * 0x7c
self.assertEqual(self.client.write_multiple_registers(0, words_l),
None)
# bit space
self.assertEqual(self.client.read_coils(0), [False],
'Default value is False when server start')
self.assertEqual(self.client.read_discrete_inputs(0), [False],
'Default value is False when server start')
# single read/write
self.assertEqual(self.client.write_single_coil(0, True), True)
self.assertEqual(self.client.read_coils(0), [True])
self.assertEqual(self.client.read_discrete_inputs(0), [True])
# multi-write at min size
bits_l = [getrandbits(1)] * 0x1
self.assertEqual(self.client.write_multiple_coils(0, bits_l), True)
self.assertEqual(self.client.read_coils(0, len(bits_l)), bits_l)
self.assertEqual(self.client.read_discrete_inputs(0, len(bits_l)),
bits_l)
# multi-write at max size
bits_l = [getrandbits(1)] * 0x7b0
self.assertEqual(self.client.write_multiple_coils(0, bits_l), True)
self.assertEqual(self.client.read_coils(0, len(bits_l)), bits_l)
self.assertEqual(self.client.read_discrete_inputs(0, len(bits_l)),
bits_l)
# multi-write over sized
bits_l = [getrandbits(1)] * 0x7b1
self.assertEqual(self.client.write_multiple_coils(0, bits_l), None)
class Slagboom:
SERVER_HOST = "192.168.3.134"
SERVER_PORT = 502
motor1 = 1
motor2 = 2
start_pos = 5
end_pos = 4
input_reg = 5391
output_reg = 00000
def __init__(self):
print("host: " + self.SERVER_HOST + "\tport: " + str(self.SERVER_PORT))
self.c = ModbusClient(host=self.SERVER_HOST,
port=self.SERVER_PORT,
auto_open=True,
auto_close=True)
while True:
self.c.write_single_register(self.output_reg, 0b000100)
print("output_reg:\t" +
str(self.c.read_holding_registers(self.output_reg, 1)[0]))
start_ret = self.c.read_holding_registers(
self.input_reg, 1)[0] & (1 << self.start_pos)
print("start_sensor_state:\t" + str(start_ret))
end_ret = self.c.read_holding_registers(self.input_reg,
1)[0] & (1 << self.end_pos)
print("end_sensor_state:\t" + str(end_ret))
return
def open_slagboom(self):
ret = 0
print("open_slagboom")
reg = self.c.read_holding_registers(self.output_reg,
1)[0] | (1 << self.input1)
while not ret:
self.c.write_single_register(self.output_reg, reg)
ret = self.c.read_holding_registers(self.input_reg,
1)[0] & (1 << self.start_pos)
print("input1 on\tstart_sensor_state:\t" + str(ret))
reg = self.c.read_holding_registers(self.output_reg,
1)[0] & ~(1 << self.input1)
self.c.write_single_register(self.output_reg, reg)
return
def close_slagboom(self):
ret = 0
reg = self.c.read_holding_registers(self.output_reg,
1)[0] | (1 << self.input2)
while not ret:
self.c.write_single_register(self.output_reg, reg)
ret = self.c.read_holding_registers(self.input_reg,
1)[0] & (1 << self.end_pos)
print("input2 on\tend_sensor_state:\t" + str(ret))
reg = self.c.read_holding_registers(self.output_reg,
1)[0] & ~(1 << self.input2)
self.c.write_single_register(self.output_reg, reg)
return
def read_fault_present(ModbusClient):
# reads if fault present
r0 = ModbusClient.read_holding_registers(105, 1)
if (len(r0) > 0) and (r0[0] == 128):
# something returned and message is Moduel Ready for Microwaves
print('Ready for microwaves ')
print(r0)
else:
print('Fault present:')
print(r0)
# read the type of fault
r1 = ModbusClient.read_holding_registers(104, 1)
print('Type of fault:')
print(r1)
class TestClientServer(unittest.TestCase):
def setUp(self):
# modbus server
self.server = ModbusServer(port=5020, no_block=True)
self.server.start()
# modbus client
self.client = ModbusClient(port=5020)
self.client.open()
def tearDown(self):
self.client.close()
def test_read_and_write(self):
# word space
self.assertEqual(self.client.read_holding_registers(0), [0], 'Default value is 0 when server start')
self.assertEqual(self.client.read_input_registers(0), [0], 'Default value is 0 when server start')
# single read/write
self.assertEqual(self.client.write_single_register(0, 0xffff), True)
self.assertEqual(self.client.read_input_registers(0), [0xffff])
# multi-write at max size
words_l = [randint(0, 0xffff)] * 0x7b
self.assertEqual(self.client.write_multiple_registers(0, words_l), True)
self.assertEqual(self.client.read_holding_registers(0, len(words_l)), words_l)
self.assertEqual(self.client.read_input_registers(0, len(words_l)), words_l)
# write over sized
words_l = [randint(0, 0xffff)] * 0x7c
self.assertEqual(self.client.write_multiple_registers(0, words_l), None)
# bit space
self.assertEqual(self.client.read_coils(0), [False], 'Default value is False when server start')
self.assertEqual(self.client.read_discrete_inputs(0), [False], 'Default value is False when server start')
# single read/write
self.assertEqual(self.client.write_single_coil(0, True), True)
self.assertEqual(self.client.read_coils(0), [True])
self.assertEqual(self.client.read_discrete_inputs(0), [True])
# multi-write at min size
bits_l = [getrandbits(1)] * 0x1
self.assertEqual(self.client.write_multiple_coils(0, bits_l), True)
self.assertEqual(self.client.read_coils(0, len(bits_l)), bits_l)
self.assertEqual(self.client.read_discrete_inputs(0, len(bits_l)), bits_l)
# multi-write at max size
bits_l = [getrandbits(1)] * 0x7b0
self.assertEqual(self.client.write_multiple_coils(0, bits_l), True)
self.assertEqual(self.client.read_coils(0, len(bits_l)), bits_l)
self.assertEqual(self.client.read_discrete_inputs(0, len(bits_l)), bits_l)
# multi-write over sized
bits_l = [getrandbits(1)] * 0x7b1
self.assertEqual(self.client.write_multiple_coils(0, bits_l), None)
def modbus_com(SERVER_HOST, SERVER_PORT, function_code, start_register,
amount_of_registers):
c = ModbusClient()
c.host(SERVER_HOST)
c.port(SERVER_PORT)
cnt = 0
while True:
# open or reconnect TCP to server
if not c.is_open():
if not c.open():
print("unable to connect to " + SERVER_HOST + ":" +
str(SERVER_PORT))
# if open() is ok, read register (modbus function 0x03)
if c.is_open():
if function_code == "3":
# Read the amount_of_registers from start_register
regs = c.read_holding_registers(int(start_register),
int(amount_of_registers))
# if success display registers
if regs:
print("reg address" + str(start_register) + "to" + str(
int(start_register) + int(amount_of_registers) - 1) +
":" + str(regs))
elif function_code == "16":
#Future support
pass
cnt += 1
if cnt >= 2:
print("クライアント通信終了")
c.close()
break
# sleep 1s before next polling
time.sleep(1)
def read_valid_registers(target_ip, port, reg):
result = False
print(f'\n=====Polling remote server for {reg}:=====')
for i in range(start_reg, end_reg):
client = ModbusClient(host=target_ip,
port=port,
auto_open=True,
auto_close=True,
timeout=10)
if reg == "hold":
data = client.read_holding_registers(i, 1)
if reg == "input":
data = client.read_input_registers(i, 1)
if reg == "discrete":
data = client.read_discrete_inputs(i, 1)
if reg == "coil":
data = client.read_coils(i, 1)
if data:
result = True
print(f'\nValid Registers {reg} detected at {i} with value {data}')
client.close()
print('/', end='')
sleep(0.1)
# return valid_list,data_list,permission_list
if result != True:
print(f'\n No Valid Registers detected in specified range')
def read_all_tags(self):
try:
c = ModbusClient(host="192.168.2.11", port=502, debug=False)
c.open()
for name, tag in self.tag_db.items():
mb0 = tag['modbus_start'] -1
mb1 = tag['modbus_stop'] -1
size = 1+mb1-mb0
#print(name, mb0, mb1, size)
#print(tag)
if 0 <= mb0 < 100000:
val = c.read_coils(mb0)[0]
elif 100000 <= mb0 < 200000:
val = c.read_discrete_inputs(mb0-100000)[0]
elif 300000 <= mb0 < 400000:
val = c.read_input_registers(mb0-300000, size)
if size == 1: val = val[0]
elif size == 2:
val = utils.word_list_to_long(val, big_endian=False)[0]
elif 400000 <= mb0 < 500000:
val = c.read_holding_registers(mb0-400000, size )
if size == 1: val = val[0]
elif size == 2:
val = utils.word_list_to_long(val, big_endian=False)[0]
if tag['dtype'] == 'float32':
val = utils.decode_ieee(val)
#print(name, val)
self.settings[name] = val
except Exception as err:
print("Error in read_all_tags", err)
c.close()
def modbus_devices(register, value):
c = ModbusClient(host="164.8.11.147", port=502, auto_open=True)
# regs=c.read_holding_registers(33)
# print(regs)
regs = c.write_single_register(register, value)
regs1 = c.read_holding_registers(register)
print(regs1)
def execute_func():
sensor_no = ModbusClient(host="192.40.50.107",
port=10010,
unit_id=1,
auto_open=True)
sensor_no.open()
regs = sensor_no.read_holding_registers(0, 100)
if regs:
print(regs)
else:
print("read error")
n = 0
data_count = 0
for n in range(50):
data_count = n * 2
regs[data_count], regs[data_count + 1] = regs[data_count +
1], regs[data_count]
dec_array = regs
data_bytes = np.array(dec_array, dtype=np.uint16)
data_as_float = data_bytes.view(dtype=np.float32)
time_data = datetime.datetime.now()
print(time_data)
start = 1
start_range = 50
value = [[num for num in range(start, start + start_range)],
[num for num in range(start, start + start_range)], data_as_float]
data = np.array(value).T.tolist()
# print(data)
products = data
arr = []
for product in products:
vals = {}
vals["Sensor No"] = str(int(product[1]))
vals["Temp"] = str(product[2])
vals["Time"] = str(time_data)
arr.append(vals)
myclient = pymongo.MongoClient("mongodb://localhost:27017/")
mydb = myclient["Modbus_Database"]
mycol = mydb["collection1"]
record_data = arr
mycol.insert_many(record_data)
global documents
documents = list(mycol.find({}, {'_id': 0}))
print(documents)
# myclient.drop_database('Modbus_Database')
mycol.delete_many({})
time.sleep(60)
class kulucka:
def __init__(self):
self.bekle = 1
self.host = "212.154.74.164"
self.port = 502
self.timeout = 2000
self.c = None
self.sonuc = {}
def baglan(self):
self.c = ModbusClient(host=self.host,
unit_id=1,
timeout=self.timeout,
auto_open=True,
auto_close=True,
port=self.port)
def main(self):
self.c.open()
regs = self.c.read_holding_registers(12288, 6)
if regs:
self.parse(regs)
else:
print("read error")
self.c.close()
def parse(self, regs):
k = 1
for i in range(0, len(regs), 2):
sicaklik = regs[i] / 10
nem = regs[i + 1] / 10
self.sonuc["kulucka" + str(k)] = {"sicaklik": sicaklik, "nem": nem}
k += 1
print()
def routineLoop():
global ac, dados, off
for i in ip: #Entra na lista de ip's
for x in add[ip.index(i)]: #entra na lista de endereços
ac = ModbusClient(host=i, auto_open=True, unit_id=x)
readTemp = ac.read_input_registers(
0) #Leitura da temperatura lida pelo ac
dados = ac.read_holding_registers(2, 26)
if bool(readTemp
) == False: #Se o valor for falso pula para o próximo ac
break
if dados[0] == 0: off = 1
else: off = 0
resposta = connect(
off, int(readTemp[0]), str(i), str(x), str(dados[1]),
str(dados[3]),
str(dados[2])) #Envia os dados para API e recebe a resposta
resposta = json.loads(resposta)
print('Recebido: ' + str(resposta))
decisao = decision(dados, resposta)
d = datetime.now()
print(decisao + " | " + str(d.hour) + ":" + str(d.minute) + ":" +
str(d.second))
ac.close()
def modbus_request(self, progress_callback):
c = ModbusClient(host="localhost", auto_open=False)
connection_ok = c.open()
if connection_ok:
try:
self.holding_registers = c.read_holding_registers(0, 3)
print(self.holding_registers)
regs = [
int(10 * self.tcurrinsp.value()),
int(10 * self.tcurrexp.value()),
int(10 * self.currpress.value())
]
c.write_multiple_registers(3, regs)
print(regs)
c.close()
except:
print("modbus exception")
pass
else:
print("other")
pass
finally:
#print("passed")
pass
else:
print("could not open")
pass
def __init__(self, address, port):
c = ModbusClient()
c.host(address)
c.port(port)
c.unit_id(1)
c.open()
data = c.read_holding_registers(130, 12)
self.data=data
c.close()
if data:
self.LowT1Start = format(data[0], 'x')
self.LowT1Stop = format(data[1], 'x')
self.LowT2Start = format(data[2], 'x')
self.LowT2Stop = format(data[3], 'x')
self.NormT1Start = format(data[4], 'x')
self.NormT1Stop = format(data[5], 'x')
self.NormT2Start = format(data[6], 'x')
self.NormT2Stop = format(data[7], 'x')
self.PeakT1Start = format(data[8], 'x')
self.PeakT1Stop = format(data[9], 'x')
self.PeakT2Start = format(data[10], 'x')
self.PeakT2Stop = format(data[11], 'x')
else:
print("Read Volt And Amper ERROR")
def doTest():
# TCP auto connect on modbus request, close after it
c = ModbusClient(host="192.168.1.1", auto_open=True, auto_close=True)
regs = c.read_holding_registers(0, 100)
if regs:
print(regs)
else:
print("read error")
def main():
router_id = Config.router_id
my_db = None
try:
# ------- Reading from the screen -------
iot_screen = ModbusClient(Config.host, Config.port, Config.auto_open)
my_db = DataBaseModbus(Config.db_host, Config.database, Config.user,
Config.password)
cell_start_index = Config.cell_start_index
nr_of_cells_to_read = Config.nr_of_cells_to_read
regs = iot_screen.read_holding_registers(cell_start_index,
nr_of_cells_to_read)
if not regs:
log("read error")
else:
log("Printed regs: ")
print regs
# put each record to database
for data in regs:
cell_start_index += 1
sensor_id = cell_start_index
measurement = MeasurementRecord(router_id, sensor_id, data)
my_db.insert_measurement(measurement)
log("Printing each DB record:")
# ------- Printing data from db onto screen -------
# From which record in DB (INDEXED FROM 0) to start reading data
record_start_index = Config.record_start_index
# How many records to be read
records_count = Config.records_count
# Cell index starting to display values
current_cell_idx = Config.current_cell_idx
records = my_db.get_history_measurements(record_start_index,
records_count)
# Display data onto Modbus
for r in records:
log(r)
# write_multiple_registers(start_index, [value1, value2, ...])
if not iot_screen.write_multiple_registers(current_cell_idx,
[r.amount]):
log("write error")
current_cell_idx += 1
except Error as e:
log("Error reading data from MySQL table", e)
finally:
if my_db:
my_db.close_connection()
# print("MySQL connection is closed")
log("Application stopped")
class com(object):
"""This class implements the modbusTCP connection functions """
def __init__(self):
''' Constructor for this class. '''
self._port = 0
def __del__(self):
''' Destructor for this class. '''
if self._port !=0:
self.close()
def open (self,SERVER_HOST = "192.168.0.210",SERVER_PORT = 502,SERVER_UNIT = 201):
"""Open modbus connection to the ComBox
Args:
SERVER_HOST: network address of the ComBox. Default='192.168.0.210'
SERVER_PORT: modbus TCP port. Default='502'
SERVER_UNIT: modbus address of the ComBox. Default='201'
Returns: Boolean value True or False
"""
self._port = ModbusClient(SERVER_HOST, SERVER_PORT, SERVER_UNIT)
if not self._port.is_open():
if not self._port.open():
print("unable to connect to " + SERVER_HOST + ":" + str(SERVER_PORT))
return self._port.is_open()
def close(self):
"""Closes the modbusTCP connection
Returns: Boolean value True or False
"""
self._port.close()
return not self._port.is_open()
def is_connected(self):
"""This function checks if the connection to the Schneider Conext ComBox is established
and if it responds to readout commands. It requests the firmware version of the ComBox
and checks for an received bitstream.
Returns: Boolean value True or False
return
"""
bitstream = self._port.read_holding_registers(0x001E, 7) # 0x001E Firmware Version str20 r
if bitstream:
return True
else:
return False
def modbus_func(self):
sensor_no = ModbusClient(host="192.40.50.107",
port=10010,
unit_id=1,
auto_open=True)
sensor_no.open()
regs = sensor_no.read_holding_registers(0, 100)
if regs:
print(regs)
else:
print("read error")
class ModbusClass:
def __init__(self):
# Make an instance of modbus object
self._client = ModbusClient()
#Connect to the LOGO
def _connectToLogo(self, ip_address, port_num):
try:
self._client.host(ip_address)
self._client.port(port_num)
self._client.open()
print('Connected')
except AttributeError:
print('Failed to connect to Logo')
# Generic Function for reading from any LOGO
def _readData(self, _list=[], *args):
_data = []
for regNumber in _list:
dataValue = self._client.read_holding_registers(
regNumber) # Reading voltage on AI3
dataValue = dataValue[0]
dataValue = int(dataValue)
_data.append(dataValue)
else:
return _data
# Perform two's compliment on any given number just incase the number is negative
def twosCompliment(self, _list, *args):
_result_list = []
for number in _list:
# All values are expected to be below 8 Bits. If More than 8 Bits, number is negative
if number > 256:
number = number - 65536
_result_list.append(number)
else:
number = number
_result_list.append(number)
else:
return _result_list
# Convert the electrical signals into meaningful data
def signalConditioning(self, _gain, _offset, _signals=[], *args):
_result_list = []
for _signal in _signals:
_conditioned_signal = (_signal * _gain + _offset)
_conditioned_signal = round(_conditioned_signal, 2)
_result_list.append(_conditioned_signal)
else:
return _result_list
def read_values():
c = ModbusClient(host=host, auto_open=True, auto_close=True)
old_value = -1
while True:
new_value = int(c.read_holding_registers(43, 1)[0])
print("New Value: {}".format(new_value))
if old_value == -1:
print("Setting old value to new value.")
old_value = new_value # Set the old_value so we don't do weird looping
# Detect if the counter has been reset
if new_value < old_value:
print("Counter has been reset externally. Force set.")
old_value = new_value
print("Old: {}. New: {}.".format(old_value, new_value))
diff = new_value - old_value
old_value = new_value
# Push to CloudWatch, even if the value is 0
litres = diff * float(k)
payload = {
"request": {
"namespace": cw_namespace,
"metricData": {
"metricName":
"UsageLitres",
"dimensions": [
{
'name': 'Device',
'value': 'WaterPulseMeter'
},
{
'name': 'Supply',
'value': 'Mains'
},
],
"value":
litres,
"timestamp":
time.time()
}
}
}
# Publish to connector
gg_client.publish(topic=cw_topic, payload=json.dumps(payload))
time.sleep(poll_delay)
def write_single_coil_regiser(ip_addr,port,coil_valid_list):
write_coil_confirm_list=[]
write_coil_confirm_data=[]
client=ModbusClient(host=ip_addr,port=port,auto_open=True,auto_close=True,timeout=10)
for i in hold_valid_list:
data=client.write_single_register(i,43981) # HEX(ABCD) == int(43981)
data=client.read_holding_registers(i,1)
#print("Regiser: "+str(i)+" => Value: "+str(data))
if data[0]:
if 43981==data[0]:
write_coil_confirm_list.append(i)
write_coil_confirm_data.append(data[0])
client.close()
return write_coil_confirm_list,write_coil_confirm_data
class MyModbus:
def __init__(self, mode):
if mode == "tcp":
self.etat = mode
self.client = ModbusClient(host=ICPCON,
port=PORT,
auto_open=True,
auto_close=True)
self.db = db.Mydb()
print("---" + self.etat + " configuration---")
else:
self.etat = mode
self.client = serial.Serial(port=myZwave,
baudrate=9600,
parity=serial.PARITY_ODD)
self.db = db.Mydb()
print("---" + self.etat + " configuration---")
if self.client.isOpen():
os.system(
r'echo -ne "\x01\x08\x00\xF2\x51\x01\x00\x05\x01\x51" > /dev/ttyACM0'
)
else:
print("Didn't stop the light")
return
def readCoils(self, min=None, max=None):
if self.etat == "tcp":
coils = self.client.read_holding_registers(min, max)
if coils:
print(coils)
self.db.insert(coils[0], coils[1])
else:
print("error : read not ok")
else:
bits = self.client.read(max)
if bits:
print(bits)
#self.db.insert(bits[0],bits[1]);
else:
print("error : read not ok")
return
def writeCoils(self, to, data):
if self.client.write_multiple_registers(to, data): #write_single_coil
print(" write done ")
else:
print("error : write not ok")
return
def state_on(self, name_x):
SERVER_HOST = name_x
SERVER_PORT = 502
c = ModbusClient()
c.host(SERVER_HOST)
c.port(SERVER_PORT)
c.open()
is_ok = c.write_single_coil(32768, True)
bits = c.read_holding_registers(32768)
if bits:
self.first_read_label_text = str('Acik')
self.image_source = "sf_yesil.png"
else:
self.first_read_label_text = str('cannotread')
def print_hi(name):
# Use a breakpoint in the code line below to debug your script.
print(f'Hi, {name}') # Press ⌘F8 to toggle the breakpoint.
# TCP auto connect on first modbus request
c = ModbusClient(host="localhost", port=502, unit_id=1, auto_open=True)
regs = c.read_holding_registers(0, 2)
if regs:
print(regs)
else:
print("read error")
if c.write_multiple_registers(10, [44, 55]):
print("write ok")
else:
print("write error")
def readValueIP(address, port, addr, reg):
c = ModbusIPClient()
c.host(address)
c.port(int(port))
value = -1
if not c.is_open():
if not c.open():
print("Unable to connect to "+address+":"+str(port))
if c.is_open():
try:
value = c.read_holding_registers(int(addr), int(reg))
except Exception as e:
raise e
finally:
c.close()
return value[0]
def polling_thread():
global regs
c = ModbusClient(host=SERVER_HOST, port=SERVER_PORT)
# polling loop
while True:
# keep TCP open
if not c.is_open():
c.open()
# do modbus reading on socket
reg_list = c.read_holding_registers(0, 10)
# if read is ok, store result in regs (with thread lock synchronization)
if reg_list:
with regs_lock:
regs = list(reg_list)
# 1s before next polling
time.sleep(1)
def polling_thread():
global regs
c = ModbusClient(host=SERVER_HOST, port=SERVER_PORT)
# polling loop
while True:
# keep TCP open
if not c.is_open():
c.open()
# do modbus reading on socket
reg_list = c.read_holding_registers(0, 10)
# if read is ok, store result in regs (with thread lock synchronization)
if reg_list:
with regs_lock:
regs = list(reg_list)
# 1s before next polling
time.sleep(1)
def readPDTemp(num):
c = ModbusClient(host='192.168.0.4',
port=502,
unit_id=4,
auto_open=True,
auto_close=True)
if c.is_open():
registerPD = None
registerTemp = None
else:
c.open()
registerPD = None
registerTemp = None
if num == 4:
registerPD = c.read_holding_registers(reg_addr=450, reg_nb=1)
registerTemp = c.read_holding_registers(reg_addr=418, reg_nb=3)
elif num == 5:
registerPD = c.read_holding_registers(reg_addr=451, reg_nb=1)
registerTemp = c.read_holding_registers(reg_addr=421, reg_nb=3)
elif num == 6:
registerPD = c.read_holding_registers(reg_addr=452, reg_nb=1)
registerTemp = c.read_holding_registers(reg_addr=424, reg_nb=3)
else:
print("system error!")
param = num, round(time.time()), registerTemp[0] / 10, registerTemp[
1] / 10, registerTemp[2] / 10, registerPD[0]
if registerPD:
if registerTemp:
try:
with conn.cursor() as cursor:
cursor.execute(qry, param)
conn.commit()
except TypeError:
print('connection error with Db. Check it.')
pass
else:
print("reboot CAM-4 to get temperature")
else:
print("reboot CAM-4 to get PD")
c.close()
result = {
'i': param[0],
'time': param[1],
'Temp_R': param[2],
'Temp_S': param[3],
'Temp_T': param[4],
'PD': param[5]
}
return result
def polling_thd():
global regs, cycle_count, good_count, error_count
c = ModbusClient(host='localhost', auto_open=True)
# polling loop
while True:
# do modbus reading on socket
reg_list = c.read_holding_registers(0, len(regs))
# if read is ok, store result in regs (with thread lock synchronization)
with regs_lock:
cycle_count += 1
if reg_list:
regs = list(reg_list)
good_count += 1
else:
regs = [None] * 5
error_count += 1
# 1.0s before next polling
time.sleep(1.0)
def getModbusData(host, port, start_register, end_register):
# Returns a list containing the data from each Modbus register between
#...and including the start and end register
# Depending on the format of any particular value you want, its data may be distributed
#...over multiple registers and will require further formatting to be human-readable.
# This function only returns the data directly taken from the device's Modbus registers.
# Setting up the client
#----------------------------------------------------
client = ModbusClient() # Creates a Modbus client opject
client.host(host) # Assigns the specified host (IP) address to the client
client.port(port) # Assigns the specified port to the client
start_register -= 2 # The Modbus registers listed in the Shark100 User's manual
end_register -= 2 #...are all offset by 2 from their actual values,
#...so we account for that here.
num_of_registers = end_register - start_register + 1
# Since the registers are taken as integers, we can take the range between the start and end
#...registers and add 1 to get the total number of registers to query.
#----------------------------------------------------
# Reading the device's Modbus registers
#----------------------------------------------------
client.open() # Opens the connection
response = client.read_holding_registers(start_register, num_of_registers)
# This function returns a list of values, one for each of the Modbus registers specified.
# It works even if some of the registers queried have data stored in different formats,
#...so be careful not to automatically treat all data the same.
client.close() # Closes the connection
#----------------------------------------------------
return response
def reader(worker, job):
c = ModbusClient(host="localhost", port=502)
if not c.is_open() and not c.open():
print("unable to connect to host")
if c.is_open():
holdingRegisters = c.read_holding_registers(1, 4)
# Imagine we've "energy" value in position 1 with two words
energy = (holdingRegisters[0] << 16) | holdingRegisters[1]
# Imagine we've "power" value in position 3 with two words
power = (holdingRegisters[2] << 16) | holdingRegisters[3]
out = {"energy": energy, "power": power}
return json.dumps(out)
return None
def polling_thread():
global regs, poll_cycle
c = ModbusClient(host=args.host, port=args.port, unit_id=args.unit_id)
# polling loop
while True:
# keep TCP open
if not c.is_open():
c.open()
# do modbus reading on socket
reg_list = c.read_holding_registers(20610,20)
# if read is ok, store result in regs (with thread lock synchronization)
with regs_lock:
if reg_list:
regs = list(reg_list)
poll_cycle += 1
else:
poll_cycle = 0
# 1s before next polling
time.sleep(0.2)
def read_valid_registers(ip_addr,port,reg):
valid_list=[]
data_list=[]
permission_list=[]
client=ModbusClient(host=ip_addr,port=port,auto_open=True,auto_close=True,timeout=10)
for i in tqdm(range(1,500)):
if reg == "hold":
data=client.read_holding_registers(i,1)
if reg == "input":
data=client.read_input_registers(i,1)
if reg == "discrete":
data=client.read_discrete_inputs(i,1)
if reg == "coil":
data=client.read_coils(i,1)
if data:
valid_list.append(i)
data_list.append(data[0])
permission_list.append("Read")
client.close()
return valid_list,data_list,permission_list
def monitor_register(target_ip, port, address, delay, reg):
while True:
client = ModbusClient(host=target_ip,
port=port,
auto_open=True,
auto_close=True,
timeout=1)
if reg == "Holding":
data = client.read_holding_registers(address, 1)
if reg == "Input":
data = client.read_input_registers(address, 1)
if reg == "Discrete":
data = client.read_discrete_inputs(address, 1)
if reg == "Coil":
data = client.read_coils(address, 1)
if data:
print(f'{reg} register at address {address} has value {data}')
#print ('.', end='')
client.close()
sleep(delay)
def polling_thread():
global regs, client
client = ModbusClient(host=SERVER_HOST, port=SERVER_PORT)
isOpen = False
# polling loop
while True:
# keep TCP open
if not client.is_open():
print("unable to connect to " + SERVER_HOST + ":" +
str(SERVER_PORT))
client = ModbusClient(host=SERVER_HOST, port=SERVER_PORT)
client.open()
# do modbus reading on socket
reg_list = client.read_holding_registers(0, 10)
# if read is ok, store result in regs (with thread lock synchronization)
if reg_list:
with threadlock:
regs = list(reg_list)
# 1s before next polling
time.sleep(1)
def modbus(ip):
dip = "Offline"
# Initiate modbus client
c = ModbusClient(host=ip, port=502, auto_open=True, timeout=1)
# Read Modbus outputs
reg = c.read_holding_registers(0, 100)
# Close Modbus connection
c.close()
if reg:
# Register 49 (array position 48) is dip switch settings
# Convert float response to 8 bit binary string and reverse order (all in one line boiiii)
dip = f'{reg[48]:08b}'[::-1]
# Convert to array
dip = [c for c in dip]
return (dip)
EOL = "\n"
c = ModbusClient(host=SERVER_HOST, port=SERVER_PORT)
if not c.open():
print("unable to connect to "+SERVER_HOST+":"+str(SERVER_PORT))
sys.exit(1)
# banner
sys.stdout.write("----------------------------------------" + EOL)
sys.stdout.write("NTS 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1" + EOL)
sys.stdout.write(" 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6" + EOL)
sys.stdout.write("----------------------------------------" + EOL)
# do modbus read
regs = c.read_holding_registers(20610, 20)
c.close()
# if read ok
if regs:
for i, value in enumerate(regs):
# builts bits list
bits = utils.get_bits_from_int(value, val_size=16)
bits.reverse()
# line name (ME or Txx)
sys.stdout.write("ME " if not i else "T%02d " % i)
# bit value (1 or " ")
for x, bit in enumerate(bits):
sys.stdout.write("1 " if bit else ". ")
if not (x+1)%4:
sys.stdout.write(" ")
class ModbusTCPSensor(OMPluginBase):
"""
Get sensor values form modbus
"""
name = 'modbusTCPSensor'
version = '1.0.7'
interfaces = [('config', '1.0')]
config_description = [{'name': 'modbus_server_ip',
'type': 'str',
'description': 'IP or hostname of the ModBus server.'},
{'name': 'modbus_port',
'type': 'int',
'description': 'Port of the ModBus server. Default: 502'},
{'name': 'debug',
'type': 'int',
'description': 'Turn on debugging (0 = off, 1 = on)'},
{'name': 'sample_rate',
'type': 'int',
'description': 'How frequent (every x seconds) to fetch the sensor data, Default: 60'},
{'name': 'sensors',
'type': 'section',
'description': 'OM sensor ID (e.g. 4), a sensor type and a Modbus Address',
'repeat': True,
'min': 0,
'content': [{'name': 'sensor_id', 'type': 'int'},
{'name': 'sensor_type', 'type': 'enum', 'choices': ['temperature',
'humidity',
'brightness']},
{'name': 'modbus_address', 'type': 'int'},
{'name': 'modbus_register_length', 'type': 'int'}]}]
default_config = {'modbus_port': 502, 'sample_rate': 60}
def __init__(self, webinterface, logger):
super(ModbusTCPSensor, self).__init__(webinterface, logger)
self.logger('Starting ModbusTCPSensor plugin...')
self._config = self.read_config(ModbusTCPSensor.default_config)
self._config_checker = PluginConfigChecker(ModbusTCPSensor.config_description)
py_modbus_tcp_egg = '/opt/openmotics/python/plugins/modbusTCPSensor/pyModbusTCP-0.1.7-py2.7.egg'
if py_modbus_tcp_egg not in sys.path:
sys.path.insert(0, py_modbus_tcp_egg)
self._client = None
self._samples = []
self._save_times = {}
self._read_config()
self.logger("Started ModbusTCPSensor plugin")
def _read_config(self):
self._ip = self._config.get('modbus_server_ip')
self._port = self._config.get('modbus_port', ModbusTCPSensor.default_config['modbus_port'])
self._debug = self._config.get('debug', 0) == 1
self._sample_rate = self._config.get('sample_rate', ModbusTCPSensor.default_config['sample_rate'])
self._sensors = []
for sensor in self._config.get('sensors', []):
if 0 <= sensor['sensor_id'] < 32:
self._sensors.append(sensor)
self._enabled = len(self._sensors) > 0
try:
from pyModbusTCP.client import ModbusClient
self._client = ModbusClient(self._ip, self._port, auto_open=True, auto_close=True)
self._client.open()
self._enabled = self._enabled & True
except Exception as ex:
self.logger('Error connecting to Modbus server: {0}'.format(ex))
self.logger('ModbusTCPSensor is {0}'.format('enabled' if self._enabled else 'disabled'))
def clamp_sensor(self, value, sensor_type):
clamping = {'temperature': [-32, 95.5, 1],
'humidity': [0, 100, 1],
'brightness': [0, 100, 0]}
return round(max(clamping[sensor_type][0], min(value, clamping[sensor_type][1])), clamping[sensor_type][2])
@background_task
def run(self):
while True:
try:
if not self._enabled or self._client is None:
time.sleep(5)
continue
om_sensors = {}
for sensor in self._sensors:
registers = self._client.read_holding_registers(sensor['modbus_address'],
sensor['modbus_register_length'])
if registers is None:
continue
sensor_value = struct.unpack('>f', struct.pack('BBBB',
registers[1] >> 8, registers[1] & 255,
registers[0] >> 8, registers[0] & 255))[0]
if not om_sensors.get(sensor['sensor_id']):
om_sensors[sensor['sensor_id']] = {'temperature': None, 'humidity': None, 'brightness': None}
sensor_value = self.clamp_sensor(sensor_value, sensor['sensor_type'])
om_sensors[sensor['sensor_id']][sensor['sensor_type']] = sensor_value
if self._debug == 1:
self.logger('The sensors values are: {0}'.format(om_sensors))
for sensor_id, values in om_sensors.iteritems():
result = json.loads(self.webinterface.set_virtual_sensor(sensor_id, **values))
if result['success'] is False:
self.logger('Error when updating virtual sensor {0}: {1}'.format(sensor_id, result['msg']))
time.sleep(self._sample_rate)
except Exception as ex:
self.logger('Could not process sensor values: {0}'.format(ex))
time.sleep(15)
@om_expose
def get_config_description(self):
return json.dumps(ModbusTCPSensor.config_description)
@om_expose
def get_config(self):
return json.dumps(self._config)
@om_expose
def set_config(self, config):
config = json.loads(config)
for key in config:
if isinstance(config[key], basestring):
config[key] = str(config[key])
self._config_checker.check_config(config)
self.write_config(config)
self._config = config
self._read_config()
return json.dumps({'success': True})
import time
SERVER_HOST = "192.168.181.76"
SERVER_PORT = 502
c = ModbusClient()
# uncomment this line to see debug message
#c.debug(True)
# define modbus server host, port
c.host(SERVER_HOST)
c.port(SERVER_PORT)
while True:
# open or reconnect TCP to server
if not c.is_open():
if not c.open():
print("unable to connect to "+SERVER_HOST+":"+str(SERVER_PORT))
# if open() is ok, read register (modbus function 0x03)
if c.is_open():
# read 10 registers at address 0, store result in regs list
regs = c.read_holding_registers(0, 10)
# if success display registers
if regs:
print("reg ad #0 to 9: "+str(regs))
# sleep 2s before next polling
time.sleep(2)
class ClientGUI:
def __init__(self):
self.lock = RLock()
self.calibgui = None
self.client = ModbusClient()
self.register_values_widgets = {}
self.counter = 1
self.find_thread = None
self.obj_data = None
self.stop_signal = False
self.__build_ui()
def run_ui(self):
self.root.mainloop()
def __build_ui(self):
# ui hierarchy:
#
#root
# connectframe
# connectlabel
# connectbutton
# snapshotbutton
# calibbuton
# mainframe
# registerframe
# reglabel
# registergridframe
# ...
# outputframe
# outputlabel
# outputtext
root = Tk()
self.root = root
root.wm_title("RemoteSurf Modbus Client")
root.protocol("WM_DELETE_WINDOW", self.__delete_window)
self.font = tkFont.Font(root = root, family = "Helvetica", size = 12)
connectframe = Frame(root)
connectbutton = Button(connectframe, text = "Connect", command = self.__connectbutton_click)
connectlabel = Label(connectframe, text = "Not connected.")
calibbutton = Button(connectframe, text = "Calibrate", command = self.__calibbutton_click)
homebutton = Button(connectframe, text = "Home", command = self.__homebutton_click)
findbutton = Button(connectframe, text = "Find", command = self.__findbutton_click)
mainframe = Frame(root)
registerframe = Frame(mainframe)
reglabel = Label(registerframe, text = "Set registers")
registergridframe = Frame(registerframe)
# outputframe = Frame(mainframe)
# outputlabel = Label(outputframe, text = "Output")
# vscrollbar = Scrollbar(outputframe)
# hscrollbar = Scrollbar(outputframe)
# outputtext = ThreadSafeConsole(outputframe, root, vscrollbar, font = self.font, wrap = NONE)
connectframe.pack(side = TOP, fill = X)
connectlabel.pack(side = BOTTOM, anchor = W)
homebutton.pack(side = RIGHT)
findbutton.pack(side = RIGHT)
calibbutton.pack(side = RIGHT)
connectbutton.pack(side = RIGHT)
mainframe.pack(side = BOTTOM, fill = BOTH, expand = YES)
registerframe.pack(side = TOP, expand = YES, anchor = W)
# outputframe.pack(side = BOTTOM, fill = BOTH, expand = YES)
reglabel.pack(side = TOP, anchor = CENTER)
registergridframe.pack(side = BOTTOM, anchor = W)
# registerframe.config(bg = "cyan")
# mainframe.config(bg = "pink")
# registergridframe.config(bg = "red")
registergridframe.columnconfigure(0, weight = 1)
registergridframe.columnconfigure(1, weight = 1)
registergridframe.columnconfigure(2, weight = 1)
registergridframe.columnconfigure(3, weight = 1)
self.x_pad = 10
registergrid_widgets = []
titles = ["Address", "Label", "Value", ""]
col = 0
for title in titles:
title_label = Label(registergridframe, text = title)
title_label.grid(row = 0, column = col, padx = self.x_pad)
registergrid_widgets.append(title_label)
col += 1
registers_data = [(500, "x"),
(501, "y"),
(502, "z"),
(503, "A"),
(504, "B"),
(505, "C"),
]
for i in range(len(registers_data)):
reg_data = registers_data[i]
row = i + 1
self.__add_register(registergridframe, reg_data, row, registergrid_widgets)
# hscrollbar.config(orient = HORIZONTAL, command = outputtext.xview)
# hscrollbar.pack(side = BOTTOM, fill = X)
# outputtext.config(state = DISABLED, yscrollcommand = vscrollbar.set, xscrollcommand = hscrollbar.set) #must change to NORMAL before writing text programmatically
# outputtext.pack(side = LEFT, fill = BOTH, expand = YES, padx = x_padding, pady = y_padding)
# vscrollbar.config(command = outputtext.yview)
# vscrollbar.pack(side = RIGHT, fill = Y)
self.connectframe = connectframe
self.connectlabel = connectlabel
self.connectbutton = connectbutton
self.mainframe = mainframe
self.registerframe = registerframe
self.reglabel = reglabel
self.registergridframe = registergridframe
self.calibbutton = calibbutton
# self.outputframe = outputframe
# self.outputlabel = outputlabel
# self.vscrollbar = vscrollbar
# self.hscrollbar = hscrollbar
# self.outputtext = outputtext
root.update()
w, h = root.winfo_width(), root.winfo_height()
root.minsize(w, h)
x, y = MAINFRAME_POS
root.geometry('%dx%d+%d+%d' % (w, h, x, y))
def __homebutton_click(self):
values = {
500: 300,
501: 0,
502: 500,
503: 180,
504: 0,
505: 180,
}
self.set_values(values, go_to_value = False)
def __add_register(self, master, data, row, widget_list):
regaddresslabel = Label(master, text=str(data[0]))
regaddresslabel.grid(row=row, column=0)
reglabellabel = Label(master, text=data[1])
reglabellabel.grid(row=row, column=1)
regvalueentry = AccessibleEntry(master, justify = RIGHT)
regvalueentry.set("0")
regvalueentry.grid(row=row, column=2, padx=self.x_pad)
regsetbtn = Button(master, text="Set", command = self.__setbutton_click)
regsetbtn.grid(row=row, column=3)
widget_list.append(regaddresslabel)
widget_list.append(reglabellabel)
widget_list.append(regvalueentry)
widget_list.append(regsetbtn)
self.register_values_widgets[data[0]] = (0, regvalueentry)
def __calibbutton_click(self):
if not self.calibgui:
self.calibgui = CalibGUI(self)
def __findbutton_click(self):
if self.find_thread is None:
self.find_thread = Thread(target=self.__find_object)
self.find_thread.start()
def __find_object(self):
import DataCache as DC
from glob import glob
from os.path import join
import numpy as np
from SFMSolver import SFMSolver, find_ext_params
import Utils
print "FINDING"
np.set_printoptions(precision=3, suppress=True)
files_dir = "out/2017_3_8__14_51_22/"
files = glob(join(files_dir, "*.jpg"))
masks = []
for f in files:
m = f.replace(".jpg", "_mask.png")
masks.append(m)
sfm = SFMSolver(files, masks)
if self.obj_data is None:
imgs, kpts, points, data = sfm.calc_data_from_files_triang_simple()
self.obj_data = imgs, kpts, points, data
else:
imgs, kpts, points, data = self.obj_data
arr_calib = DC.getData("out/%s/arrangement_calib.p" % ARRANGEMENT_CALIB_DIR)
ttc = arr_calib["ttc"]
tor = arr_calib["tor"]
if "cam_mtx" in arr_calib:
print "camMtx, distcoeffs load"
Utils.camMtx = arr_calib["cam_mtx"]
Utils.dist_coeffs = arr_calib["dist_coeffs"]
if self.stop_signal:
self.stop_signal = False
return
for point in FIND_POINTS:
values = {
500: point[0],
501: point[1],
502: point[2],
503: point[3],
504: point[4],
505: point[5],
}
print "set_values call"
self.set_values(values, True)
print "set_values return"
time.sleep(0.5)
CamGrabber.capture_if_no_chessboard = True
CamGrabber.capture = True
time.sleep(0.5)
if self.stop_signal:
self.stop_signal = False
return
find_dir = logger.outputdir
files = glob("%s/*.jpg" % find_dir)
print files
# files_dir = "out/2017_4_5__15_57_20/"
# files = glob(join(files_dir, "*.jpg"))
files.sort()
files = files[-len(FIND_POINTS):]
results = []
for f in files:
res = find_ext_params(f, imgs, kpts, points, data, tor, ttc)
results.append(res)
if self.stop_signal:
self.stop_signal = False
return
for i in range(len(results)):
print i, results[i]
write_log((i, results[i]))
result = max(results, key=lambda x: x[2])
write_log(result)
values = {
500: int(result[0][0] * 10),
501: int(result[0][1] * 10),
502: int(result[0][2] * 10) + 200,
503: int(result[1][2]),
504: int(result[1][1]),
505: int(result[1][0]),
}
print "num inl: ", result[2]
pprint(values)
self.set_values(values, go_to_value=False)
self.find_thread = None
def __connectbutton_click(self):
if self.client.is_open():
self.client.close()
else:
self.client.host(SERVER_HOST)
self.client.port(SERVER_PORT)
if self.client.open():
write_log("Connection established")
self.refresh_values()
self.read_robot_pos()
else:
write_log("ERROR: Connecting failed")
self.__update_gui()
def read_robot_pos(self):
write_log("Reading robot position:")
posdict = {}
for i in range(1000, 1006):
if self.client.is_open():
with self.lock:
real_val_uint = self.client.read_input_registers(i)[0]
real_val_holding_uint = self.client.read_holding_registers(i)[0]
assert real_val_uint == real_val_holding_uint
real_val_int = uintToInt16(real_val_uint)
posdict[i] = real_val_int
write_log("%d, %d" % (i, real_val_int))
else:
write_log("ERROR: Read could not be completed, client not connected.")
self.__update_gui()
break
write_log("Read done.")
return posdict
def refresh_values(self):
for address in self.register_values_widgets:
if self.client.is_open():
value, widget = self.register_values_widgets[address]
with self.lock:
real_val_uint = self.client.read_input_registers(address)[0]
real_val_holding_uint = self.client.read_holding_registers(address)[0]
assert real_val_uint == real_val_holding_uint
real_val_int = uintToInt16(real_val_uint)
widget.set(str(real_val_int))
self.register_values_widgets[address] = (real_val_int, widget)
else:
write_log("ERROR: Read could not be completed, client not connected.")
self.__update_gui()
break
write_log("Refresh done.")
return self.register_values_widgets
def __update_gui(self):
if self.client.is_open():
self.connectlabel.config(text = "Connected to: %s:%d" % (SERVER_HOST, SERVER_PORT))
self.connectbutton.config(text = "Disconnect")
else:
self.connectbutton.config(text = "Connect")
self.connectlabel.config(text = "Not connected.")
self.root.update()
def __print_memory(self):
self.refresh_values()
write_log("Memory dump:")
write_log("------------")
for address in self.register_values_widgets:
val, widget = self.register_values_widgets[address]
write_log("%d, %d" % (address, val))
write_log("------------")
def __setbutton_click(self, wait = False):
if not self.client.is_open():
write_log("ERROR: Not connected to client")
return
# writing message counter
retval = self.__write_register(COUNTER_REGISTER_OUT, self.counter)
if not retval:
self.__update_gui()
return
# writing registers
for address in self.register_values_widgets:
value, widget = self.register_values_widgets[address]
widgetvalue_int = None
try:
widgetvalue_int = int(widget.get())
except ValueError:
write_log("ERROR: Wrong input format in value entry for address: %d" % address)
continue
if value == widgetvalue_int:
continue
retval = self.__write_register(address, widgetvalue_int)
if retval:
self.register_values_widgets[address] = (widgetvalue_int, widget)
else:
self.__update_gui()
self.refresh_values()
# message counter wait
if wait:
global break_wait
while not break_wait:
with self.lock:
counter = self.client.read_input_registers(COUNTER_REGISTER_IN)[0]
if counter == self.counter:
break
time.sleep(0.1)
break_wait = False
# counter increment
self.counter = (self.counter + 1) % 20
if PRINT_ALL_MEMORY_ON_WRITE:
self.__print_memory()
self.read_robot_pos()
def __write_register(self, address, value):
if not (-32768 <= value <= 32767):
write_log("ERROR: -32768 <= value <= 32767 is false for address: %d" % address)
return False
widgetvalue_uint = intToUint16(value)
if self.client.is_open():
with self.lock:
retval = self.client.write_single_register(address, widgetvalue_uint)
if retval:
write_log("Register written. Address: %d, value: %d" % (address, value))
return True
else:
write_log("ERROR: Write failed. Address: %d, value: %d" % (address, value))
else:
write_log("ERROR: client not connected.")
return False
def set_values(self, values, wait = True, go_to_value = True):
"""
:param values: dictionary of { address : value} both int
:return:
"""
for address in values:
if address not in self.register_values_widgets:
continue
val, widget = self.register_values_widgets[address]
widget.set(str(values[address]))
if go_to_value:
self.__setbutton_click(wait)
def __delete_window(self):
CamGrabber.exit = True
self.stop_signal = True
self.client.close()
self.root.quit()
class modBusWriteRead():
def __init__(self,client_host):
self.client_host = client_host
self.client_port = 502
self.err_list = []
self.connect() #buradan bağlantı yapılacak;
def connect(self):
self.modbus_c = ModbusClient()
self.modbus_c.host(self.client_host)
self.modbus_c.port(self.client_port)
if not self.modbus_c.is_open():
if not self.modbus_c.open():
text="unable to connect to " + self.client_host + ":" + str(self.client_port)
print(text)
def write_data_reg(self,address,list):
if self.modbus_c.open():
if len(list)>120:
sent_list = self.hazirla_dizi_to_write(list)
i = 0
hedef_reg_taban = address
for list_to_sent in sent_list:
hedef_reg = hedef_reg_taban + (i * 120)
a = self.modbus_c.write_multiple_registers(hedef_reg, list_to_sent)
if a == None or a == False:
self.err_list.append(False)
i += 1
else:
a = self.modbus_c.write_multiple_registers(address, list)
if a == None or a == False:
self.err_list.append(False)
if len(self.err_list) > 0:
self.err_list = []
pass
# dikkat
# print("data göndermede hata oluştu, tekrar deneyin !")
def hazirla_dizi_to_write(self,d_list):
# eğer gönderilecek değer 120 den büyük ise aşağıdaki fonksiyon 120 lik diziler döndürüyor
r_list = []
g_list = []
i = 0
for index in range(len(d_list)):
g_list.append(d_list[index])
i += 1
if i > 119:
i = 0
r_list.append(g_list)
g_list = []
if (len(d_list) - 1) == index and i < 119:
r_list.append(g_list)
return r_list
def read_data_reg(self,address,reg_count,read_float=False ):
# burada 16 lık ya da float olarak okunabiliyor
if self.modbus_c.is_open():
if read_float == False:
plc_list_int = self.modbus_c.read_holding_registers(address, reg_count)
return plc_list_int
elif read_float == True:
plc_list_f_16=self.modbus_c.read_holding_registers(address,reg_count)
if plc_list_f_16 is not None:
plc_list_float=self.long_to_float(plc_list_f_16)
return plc_list_float
def long_to_float(self,list_16):
list_float=[]
list_16.reverse()
list_long=utils.word_list_to_long(list_16)
for any_long in list_long:
list_float.append(utils.decode_ieee(any_long))
list_float.reverse()
return list_float
c=ModbusClient()
#c.debug(1)
c.host("163.111.184.31")
c.unit_id(33)
while(True):
# keep TCP link open
if not c.is_open():
c.open()
if c.is_open():
# loop start time
start = time.time()
# #20506
r = c.read_holding_registers(20506)
if r:
ret = rrdtool.update(RRD_POS, 'N:%d' % r[0])
# #20492
r = c.read_holding_registers(20492)
if r:
ret = rrdtool.update(RRD_FLOW, 'N:%d' % r[0])
# #20494
r = c.read_holding_registers(20494)
if r:
ret = rrdtool.update(RRD_SP, 'N:%d' % r[0])
# loop end time
end = time.time()
loop_time = end - start
# wait before next cycle
time.sleep(RRD_REFRESH - loop_time)
is_ok = c.write_single_register(2, 0)
if not is_ok:
c.open()
else:
is_ok = c.write_single_register(3, 0)
if not is_ok:
c.open()
else:
# static
is_ok = c.write_single_register(1, 0)
if not is_ok:
c.open()
reg = c.read_holding_registers(4, 1)
if reg[0] == 2:
sys.exit()
f = open('C.txt', 'a')
str1 = ''.join(str(alpha_a_int[i]))
f.write(str1)
f.write(' ')
str1 = ''.join(str(alpha_b_int[i]))
f.write(str1)
f.write(' ')
str1 = ''.join(str(omg_a_int[i]))
f.write(str1)
f.write(' ')
str1 = ''.join(str(omg_b_int[i]))
f.write(str1)